Radiological imaging device

ABSTRACT

A radiological imaging device includes a gantry defining an analysis area configured to contain a portion of a patient to be analyzed and a circular extension trajectory extending around a central axis. The gantry includes a source configured to emit radiation; a detector configured to receive the radiation after it has passed through the analysis area; and a casing defining a housing volume for the source and the detector. The casing includes a bottom arched module and an arched module mobile with respect to the bottom arched module so as to vary the angular extension of the casing. The gantry includes a movement apparatus of the arched modules including a bottom guide integral with the bottom arched module and defining a bottom circular movement trajectory centered on the central axis; a mobile guide integral with the mobile arched module and defining a circular movement trajectory centered on the central axis; and a thrust assembly configured to engage the guides commanding the rotation of the arched modules around the central axis.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a National Stage Filing based on and claims priorityfrom International Application No. PCT/IB2016/056955, filed Nov. 18,2016, which claims priority from Italian Patent Application No.UB2015A006291, filed Dec. 4, 2015, each of which is incorporated byreference in its entirety.

FIELD OF THE INVENTION

The present invention relates to a radiological imaging device. Inparticular, the invention relates to a device suitable to be used in themedical/veterinary sphere to obtain images of at least a portion of theinternal anatomy of a patient, and thus to perform analyses, diagnosesor other assessments of such patient.

BACKGROUND

As is known, X-ray imaging devices currently on the market, regardlessof the analysis performed (tomography, X-ray or fluoroscopy) havesubstantially the same basic structure. This structure provides a bed onwhich the patient is placed, a control station suitable to control theoperation of the device; a gantry, O-shaped, defining a cavity in whichthe portion to be analysed is inserted and suitable to perform theradiological imaging of the patient; and a support supporting the gantryand the bed and able to mutually translate the bed and gantry. Indetail, an X-ray source, a detector which receives the X-rays after theyhave passed through the bed, and the patient are positioned inside thegantry. Moreover, to perform a scan with different inclinations or atomography, the radiological device has a rotation member which, byrotating the entire gantry or only the source and detector around thepatient, makes it possible to perform scans at different angles.

The prior art mentioned above has several significant drawbacks. A firstimportant drawback is that the radiological imaging devices currentlyavailable are particularly bulky. In fact, the gantry, having to containthe source, the detector and the rotation member, is particularly bulky.In fact, it has a diameter at least equal to 1.5 metres and is thereforeunable to pass through doors or other accesses present in hospitals.

For this reason, if, for example, radiological imaging is used to checkthe outcome of an operation, the patient must be taken from theoperating table, laid on a hospital bed, moved in the hospital to theroom where the radiological imaging device is located, lifted again, andthen laid on the bed of the device. This drawback is further increasedby the need to make the source and detector rotate by an angularamplitude of at least 360°, which requires the use of complex andlaborious rotation members.

One way to resolve these problems is to have the radiological devicesdeveloped with a C-shaped gantry, called a “C-arm,” which is composed ofa solid C-shaped arched body at the ends of which the source anddetector are integrally constrained, and a particular rotation member ofthe entire C-arm.

This solution, although solving in part the disadvantages set out above,has some important drawbacks. In fact, these radiological imagingdevices are able to make the source and detector rotate only by alimited angular amplitude of not more than 200°. As a result, during theperformance of a tomography, they are able to capture images only at acertain angle and thus perform a reconstruction of a radiographic imageof reduced quality that is therefore difficult to read by the physician.As a result, these radiological imaging devices are often designed for asingle function, usually only fluoroscopy, and thus have less functionalflexibility. Moreover, the limited rotation does not allow the C-armdevices to perform scanning from any angle.

These drawbacks greatly limit the use of devices with a C-arm gantry,thus most of the radiological imaging devices currently in use are thosewith an O-gantry.

SUMMARY

In this situation the technical purpose of one embodiment of the presentinvention is to devise a radiological imaging device able tosubstantially overcome the drawbacks mentioned above. Within the sphereof this technical purpose one important aim of this embodiment is toobtain an imaging device which makes it possible to move the patienteasily and, above all, eliminates or reduces the risks to the patientwithout detracting from the angular scanning amplitude.

In particular, one important purpose of this embodiment of the inventionis to provide a radiological imaging device which has reduced dimensionsbut nevertheless makes it possible to perform scans of angular amplitudeequal to at least 360°.

BRIEF DESCRIPTION OF THE DRAWINGS

The various embodiments will now be shown with the following detaileddescription of an exemplary embodiment, with reference to the attacheddrawings in which:

FIGS. 1a-1e show, in perspective, a radiological imaging deviceaccording to an embodiment of the invention in a possible operatingsequence;

FIG. 2 illustrates, in a front view, a cross-section of the radiologicalimaging device during the operating sequence shown in FIGS. 1a -1 e;

FIG. 3 shows a portion in cross-section of the radiological imagingdevice;

FIGS. 4a-4b show, in cross-section, an assembly of the radiologicalimaging device according to embodiments of the invention in differentconfigurations; and

FIG. 5 shows a portion of the radiological imaging device.

DETAILED DESCRIPTION

In this document, the measures, values, shapes and geometric references(such as perpendicularity and parallelism), when used with words like“about” or other similar terms such as “approximately” or“substantially”, are to be understood as except for measurement errorsor inaccuracies due to production and/or manufacturing errors and, aboveall, except for a slight divergence from the value, measure, shape orgeometric reference which it is associated with. For example, theseterms, if associated with a value, preferably indicate a divergence ofnot more than 10% of such value.

In addition, where used terms such as “first”, “second”, “upper”,“lower”, “main” and “secondary” do not necessarily refer to an order, apriority relationship or relative position, but may simply be used tomore clearly distinguish different components from each other.

Except where specified otherwise, as evidenced by the discussions below,consider that terms such as “processing”, “computer”, “computing”,“evaluation”, or the like refer to the action and/or a processes of acomputer or calculation system which handles and/or processes datarepresented as physical, such as electronic magnitudes of logs of acomputer system and/or memories of other data similarly represented suchas physical quantities inside computer systems, logs or otherinformation storage, transmission or display devices.

With reference to the drawings mentioned, reference numeral 1 globallydenotes a radiological imaging device according to an embodiment of theinvention. It is suitable for use in the medical (human/veterinary)field for performing radiological imaging of at least one portion of theinternal anatomy of a patient. In particular, the radiological imagingdevice 1 is suitable for use in the medical field (human/veterinary) forperforming X-rays, CAT scans, fluoroscopy and other radiological imagingexaminations.

The device 1 includes a gantry 2 suitable to perform X-ray imaging and acontrol unit 1 a suitable to manage the operation of the device 1 and,to be precise, at least the gantry 2. The gantry 2 defines an analysisarea 2 a suitable to contain at least a portion of the patient to beanalysed and, appropriately, a circular extension trajectory 2 bextending, and thus having its centre, on a central axis 2 c.

In the present document the terms “axial”, “axially” and similaridentify a direction substantially parallel to the central axis 2 c,while the terms “radial”, “radially” and similar identify a directionsubstantially perpendicular to the central axis 2 c.

The circular extension trajectory 2 b lies on a plane substantiallyperpendicular to the central axis 2 c. The gantry 2 includes a source 21suitable to emit a radiation, preferably X-rays, defining a centralpropagation axis 21 a preferably approximately perpendicular to thecentral axis 2 c; a detector 22 suitable to receive the radiation afterit has crossed the analysis area 2 a and, therefore, the portion of thepatient in analysis; and a casing 23 defining a volume for housing atleast the source 21, the detector 22 and extending substantially alongthe circular extension trajectory 2 b.

The source 21 includes an X-ray emitter defining the central axis 21 aand, optionally, a tilt-system suitable to rotate, appropriately, withrespect to the casing 23, the X-ray emitter and, therefore, thepropagation axis 21 a, preferably around a tilt-axis approximatelyparallel to the central axis 2 c and, more preferably, passing throughthe focal spot of the emitter so as to maintain approximately stationarythe focal spot.

The detector 22 includes at least one sensor defining a surfacesensitive to X-rays and suitable to selectively perform, appropriatelyon the basis of a command given by the operator, tomographies,fluoroscopies and/or X-rays. It consequently defines at least onesensitive surface suitable to detect the radiation and, in particular,substantially perpendicular to the axis of propagation 21 a. The atleast one sensor may include at least one of: a linear sensor and,preferably, two linear sensors defining sensitive surfaces substantiallycoplanar; a rectangular sensor, known as a flat panel, preferablysuitable to vary the extension of the active sensitive surface; a directphoton count sensor; a dual energy sensor; a concavity sensor directedtowards the central axis 2 c; a variable geometry sensor: flat orconcave.

The detector 22 may further include at least one lateral and/or verticalmovement apparatus and, in detail, at least one waver suitable totranslate along a waving axis and a lifting system suitable to move thesensor along a lifting axis approximately perpendicular to the wavingaxis. The waver presents a slider connected to the sensor, a wavingguide defining the waving axis and a motor, in detail electric,controlling the movement of the slider on the waving guide. The wavingaxis is substantially perpendicular to the central propagation axis 21 aand to the central axis 2 c. The lifting system includes a linearactuator, preferably electric, suitable to move the sensor and,preferably, the waver along the lifting axis. The lifting axis isapproximately parallel to the central axis of propagation 21 a andsubstantially perpendicular to the central axis 2 c.

The casing 23 constitutes the outer body of the gantry 2 and,consequently, defines the overall dimensions and, in particular, theangular extension of the gantry 2 and the trajectory 2 b. The casing 23and therefore the gantry 2 are of the telescopic type and, consequently,suitable to vary their angular extension along the extension trajectory2 b preferably defining at least a rest configuration and at least oneworking configuration for the gantry 2. Advantageously, the casing 23and therefore the gantry 2 vary their angular extension and, therefore,the angular extension of the housing defined by the casing 23, keepingthe source 21 and detector 22 inside the housing volume.

In the rest configuration (FIGS. 1a-1b , 2, 4 a) the casing 23 and thegantry 2 are contracted and have a minimum angular extension.Consequently, the casing 23, the gantry 2 and therefore the circularextension trajectory 2 b define an arc of circumference substantiallycentred on the axis 2 c and having an angular extension approximatelyless than 260°. In detail, in the rest configuration the trajectory 2 bhas a minimum angular extension of angular amplitude approximately lessthan 210° and, in more detail, substantially equal to 190°.

In one working configuration (FIGS. 1c-1e, 4b ), the casing 23 and thegantry 2 have a circular extension trajectory 2 b having a greaterangular extension than the minimum angular extension so as to at leastpartially surround at least a major portion of the analysis area 2 aallowing the source 21 and the detector 22 to place themselves onopposite sides of the axis 2 c and thus the area 2 a. In particular, thegantry 2 defines a working configuration of maximum extension (FIGS. 1e,4b ), in which the casing 23 and therefore the gantry 2 areapproximately closed and present the circular extension trajectory 2 bwhich presents an angular extension of 360° defining, accordingly, anO-shaped gantry 2 enclosing and, suitably, laterally delimiting theentire analysis area 2 a.

Note that gantry 2 passes from one configuration to the other keepingthe source 21 and detector 22 always inside the housing volumeregardless of the angular extension of the casing 23 and thus of thegantry 2 along the circular extension trajectory 2 b, as more fullydescribed below.

Appropriately, in some cases, if the sensor is moved by the liftingsystem with a stroke of greater amplitude than a predefined threshold,the detector 22 can come out and protrude at least partially from thecasing 23. In fact, to allow the lifting system to move the sensor alongthe lifting axis, the gantry 2 and, in particular, the casing 23 maypresent a through window which faces the analysis area 2 a and allowsthe detector 22 to protrude from the casing 23 when translated along thelifting axis.

In order to have such configurations, the casing 23 includes at leasttwo substantially hollow modules so as to define the housing volume. Themodules have a preferred extension trajectory substantially coincidingwith the circular extension trajectory 2 b, i.e. with the centre on thecentral axis 2 c, and, advantageously, different cross-sections allowingfor their mutual insertion/overlapping. In detail, the casing 23includes at least one, preferably only one, bottom arched module 231 andat least one arched module mobile with respect to the bottom archedmodule 231 so as to vary the angular extension of the casing 23 and ofthe gantry and, thus, the housing volume. In more detail, the casing 23includes a bottom arched module 231, a first mobile arched module 232 aand a second mobile arched module 232 b placed at the end of the bottomarched module 231 opposite the first module 232 a and preferablysubstantially specular to the first module 232 a.

Mobile modules 232 a and 232 b, as described below, are mobile in adependent manner, i.e. simultaneously and with substantially the samespeed and same direction of advancement along the trajectory 2 b, andindependently of each other. The arched modules 231, 232 a and 232 bhave substantially the same barycentric extension axis preferablyapproximately coinciding with the circular extension trajectory 2 b.

In order to have, in the working configuration of maximum extension, anO-shaped gantry 2, the sum of the angular amplitudes of the archedmodules 231, 232 a and 232 b is at least equal to 360°. Preferably, thesum of the angular amplitudes of the arched modules 231, 232 a and 232 bis at least 370° so as to always have an overlap zone of the mobilearched modules 232 a and 232 b with the bottom arched module 231suitable to give greater structural stability to the gantry 2. Inparticular, the bottom arched module 231 has an angular extensionapproximately less than 240° and, more particularly, substantially lessthan 210° and, even more particularly, substantially between 190° and160°.

Each mobile arched module 232 a and 232 b has an angular extensionsmaller than the angular semi-extension of the bottom module 231 sothat, when the radiological imaging device is in the rest configuration,the mobile modules 232 a and 232 b are inside the bottom module 231 andspaced apart defining a free sector 231 a of the bottom module 231.Appropriately, the mobile modules 232 a and 232 b preferably havemutually the same angular extension and the free sector 231 a isappropriately placed in the middle of the bottom body 231, i.e. at thebisector of the angle of extension of the bottom body 231. Inparticular, each mobile arched module 232 a and 232 b has an angularextension approximately less than 140° and, preferably approximatelyless than 120° and, more preferably, substantially between 90° and 60°.

The mobile arched modules 232 a and 232 b have different cross-sectionsfrom that of the bottom arched module 231 so as to at least partiallyoverlap the bottom arched module 231 and, advantageously, vary theextension of the part of the mobile module 232 a and 232 b overlappingthe bottom arched module 231 during a change of configuration.Preferably, the mobile arched modules 232 a and 232 b have a crosssection less than that of the bottom arched module 231 so as to behoused inside it and, advantageously, vary the extension of the part ofthe mobile module 232 a and 232 b inside the bottom arched module 231during a change of configuration.

Preferably, in the rest configuration, each mobile arched module 232 aand 232 b is totally overlapped and, to be precise, housed in the bottomarched module 231 so that the angular extension of the gantry 2 issubstantially equal to that of the bottom arched module 231. Morepreferably, in the rest configuration the mobile arched modules 232 aand 232 b are completely housed in the bottom arched module 231.

In the at least one working configuration, at least one of the mobilearched modules 232 a and 232 b and, in particular, each mobile archedmodule 232 a and 232 b protrudes at least partially from the bottomarched module 231 so that the angular extent of the gantry 2 is greaterthan that of the bottom arched module 231. In detail, in the at leastone working configuration, the angular extension of the gantry 2 isapproximately equal to the angular extension of the bottom arched module231 plus the angular extension of each portion of mobile arched module232 a and 232 b protruding from the bottom arched module 231.

Bottom arched module 231, having to contain inside it the mobile modules232 a and 232 b, defines a portion of the housing volume with across-section substantially at least equal and in particular, greaterthan the cross-section of the mobile modules 232 a and 232 b.Consequently, the cross-sections of the portion of housing volume of themobile modules 232 a and 232 b are substantially equal to each other andless than the cross-section of the portion of housing volume of thebottom arched module 231. The modules 231, 232 a and 232 b areidentifiable in hollow, arched profiles. In order to move the at leastone mobile arched module 232 a and/or 232 b with respect to the bottomarched module 231 and, thus control the passage between the working andrest configurations, the gantry 2 includes a movement apparatus 24 of atleast the mobile arched modules 232 a and/or 232 b with respect to thebottom arched module 231.

Advantageously, the movement apparatus 24 is suitable to move both themobile modules 232 a and 232 b and the bottom module 231 allowing, inaddition to the change of configuration, the source 21 and detector 22to rotate around the analysis area 2 a and, thus the central axis 2 cdefining a rotation of maximum amplitude at least equal to 360°.

The apparatus 24 includes at least a bottom guide 241 integral with thebottom arched module 231 and defining a bottom movement trajectory 241a, at least one mobile guide 242 integral with the at least one mobilearched module and defining a mobile movement trajectory 242 a, and atleast one thrust assembly 243 suitable to engage at least one of theguides 241 and/or 242 controlling the rotation of the at least onecorresponding arched module 231, 232 a and 232 b around the central axis2 c.

In particular, the mobile guide 242 is integral with both mobile archedmodules 232 a and 232 b. It is therefore divided into two sectors andincludes a first sector 242 b integral with the first mobile archedmodule 232 a and defining a first portion of the mobile trajectory 242a; and a second sector 242 c integral with the second mobile archedmodule 232 b and defining a second portion of the mobile trajectory 242a.

The guides 241 and 242 are external to the housing volume and,therefore, to the casing 23. Accordingly, the mover 242 is also externalto the housing volume and to the casing 23.

The bottom guide 241 is made on at least one of the outer faces of thebottom arched module 231 preferably not facing the analysis area 2 a.More preferably, it is made on at least one and, in particular, on onlyone of the outer faces of the bottom arched module 231 approximatelyperpendicular to the central axis 2 c.

The mobile guide 242 and, thus, the sectors 242 b and 242 c are made onat least one of the outer faces of the mobile arched modules 232 a and232 b suitably not facing the analysis area 2 a. Preferably, it is madeon at least one and, in particular on only one of the external faces ofthe mobile arched modules 232 a and 232 b substantially perpendicular tothe central axis 2 c.

Appropriately, the guides 241 and 242 are made on outer faces of thearched modules 231, 232 a and 232 b suitable to overlap each other whenthe mobile modules 232 a and 232 b are at least partially inside thebottom arched module 231. The guides 241 and 242 and the movementtrajectories 241 a and 242 a are substantially circular andapproximately concentric to the axis 2 c. Preferably, the mobile guide242 and the mobile trajectory 242 a are distinct from the bottom guide241 and from the bottom trajectory 241 a so that, when the mobile archedmodule 232 a or 232 b is moved with respect to the bottom arched module231, i.e. there is a change of configuration of the gantry 2, thesurfaces of the guides 241 and 242 and trajectories 241 a and 242 aslide reciprocally without touching and appropriately varying theangular extension of the mobile guide 242 overlapped on the bottom guide241.

The mobile guide 242 and, consequently, the mobile trajectory 242 a areseparate from the bottom guide 241 and from the bottom trajectory 241 aby having a different radius, calculated with respect to the axis 2 c ora different position along the central axis 2 c, i.e. the lying planesof the trajectories 241 a and 242 a intersect the central axis 2 c intwo separate points. Preferably, the mobile guide 242 and the mobiletrajectory 242 a have a different radius and, in particular, smallerthan that of the bottom guide 241 and of the bottom trajectory 241 a.

The angular amplitude of the mobile guide 242 and, to be precise, theindividual sectors 242 b and 242 c, added to that of the bottom guide241, may be approximately more than 360° so that the gantry 2 alwayshas, even in the working configuration at maximum extension, at leastone overlapping area between the guides 241 and 242, i.e. an area whereboth the mobile guide 242 and the bottom guide 241 are present so thatthe thrust unit 243 is simultaneously engageable to both of the guides241 and 242.

In detail, the sum of the angular extensions of the guides 241 and 242and, therefore, of the movement trajectories 241 a and 242 a issubstantially at least equal to 360° and, in more detail, to 380°. To beprecise, the bottom guide 241 has an angular extension approximatelyequal to that of the bottom module 231. In detail, it has approximatelyan angular extension approximately smaller than 240°, preferably 210°and, more preferably, substantially between 190° and 180°.

The mobile guide 242 has an angular extension approximately less than240°, preferably 210° and, more preferably, approximately between 190°and 180°. In detail, each sector 242 b and 242 c has an angularextension equal to that of the respective mobile module 232 a and 232 b.In more detail, each sector 242 b and 242 c has an angular extension ofless than 140° preferably than 120° and, more preferably, substantiallybetween 100° and 85°.

The thrust assembly 243 is external to the casing 23 and is suitable toengage, individually and/or simultaneously, the guides 241 and 242controlling the movement of at least part of the arched modules 231, 232a and 232 b. As shown in FIG. 3, it includes at least a first engagementelement 2431 to the bottom guide 241 suitable to control the rotation ofat least the bottom arched module 231; at least one second engagementelement 2432 to the mobile guide 242 suitable to control the rotation ofat least one mobile arched module 232 a or 232 b; and, suitably, asupport 2433 for elements 2431 and 2432. In order to allow the thrustassembly 243 to always be in contact with at least one of the guides 241and 242, the at least first engagement element 2431 and/or the at leastsecond engagement element 2432 may respectively define a firstengagement area 2431 a and a second engagement area 2432 a at leastpartially overlapping one another radially, i.e. along a firstapproximately radial direction, suitably a circular extension trajectory2 b, and having a suitable angular amplitude. The radial overlapidentifies the fact that the engagement areas 2431 a and 2432 a, ifprojected on one another in the radial direction, have a non-nulloverlap. Each engagement area 2431 a and 2432 a is identifiable in thesurface of the element 2431 or 2432 suitable to come into contact withthe respective guide 241 or 242. In particular, in the case of severalelements 2431 and/or 2432, it is identifiable in the arch enclosedbetween the areas of several external elements 2431 or 2432 suitable tocome into contact with the respective guide 241 or 242.

Preferably, the thrust assembly 243 includes several first engagementelements 2431 mutually angularly spaced along the circular extensiontrajectory 2 b so as to engage to the bottom guide 241 in differentpoints and, thus, have a broader first engagement area 2431 a. Indetail, the first engagement elements 2431 have a mutual angulardistance and, therefore, an amplitude of the first engagement area 2431a substantially at least equal to 10° and, to be precise, substantiallybetween 10° and 30°.

The first engagement element 2431 is identifiable in a toothed wheel,motorised, suitably electrically, and the bottom guide 241 isidentifiable in a rack. Alternatively, the bottom guide 241 issubstantially smooth and, suitably, the first element 2431 isidentifiable in a friction wheel (i.e. suitably coated or made of rubberor other high friction material) motorised, preferably, electrically,i.e. a wheel suitable to engage to the bottom guide 241 and to exploitthe friction force between the wheel and the bottom guide 241 to movethe bottom module 231.

Appropriately, the thrust assembly 243 includes several secondengagement elements 2432 mutually angularly spaced along the circularextension trajectory 2 b so as to engage to the mobile guide 242 indifferent points and, thus, have a broader second engagement area 2432a. In detail, the second engagement elements 2432 have a mutual angulardistance and, therefore, an amplitude of the second engagement area 2432a at least equal to 10° and, to be precise, substantially between 10°and 30°. Each second engagement element 2432 is identifiable in at leastone toothed wheel, motorised, suitably electrically, and the mobileguide 242 is identifiable in a rack. Alternatively, the mobile guide 242is approximately smooth and, suitably, coated in rubber or other highfriction material and the second element 2432 is a friction wheel,motorised, preferably electrically.

Lastly, to allow the second engagement element of the 2432 to engage tothe mobile guide 242 even when the mobile module 232 a and/or 232 b isinside the bottom arched module 231 the movement apparatus 24 includesat least one through slot 244 made on the bottom arched module 231 andsuitable to overlap the mobile guide 242 so as to appropriately put itinto view through bottom arched module 231 allowing an engagementbetween the second thrust means 2432, external to the casing 23, and themobile guide 242 constrained to the mobile modules 232 a and 232 b, i.e.inside the casing 23. In particular, the movement apparatus 24 includesa single through slot 244 having an angular extension substantiallyequal to that of the bottom arched module 231 and extendingsubstantially along the second trajectory 242 a. Alternatively, itincludes two through slots 244 (FIG. 4b ) of which one having an angularextension approximately equal to the first sector 242 b and the otherhaving an angular extension approximately equal to the second sector 242c.

Additionally, the movement apparatus 24, to allow the modules 231, 232 aand 232 b to rotate mutually exclusively, may include at least one of: aradial constraint suitable to prevent a relative radial motion betweenthe thrust assembly 243 and guides 241 and 242; and an axial constraintsuitable to prevent a relative axial motion between the thrust assembly243 and the guides 241 and 242. Appropriately, the movement apparatus 24includes both the radial constraint and the axial constraint. The radialconstraint, shown in FIG. 3, includes at least a first abutment 251suitable to engage to the bottom guide 241 on the opposite side to thefirst engagement element 2431 and at least a second abutment 252suitable to engage the mobile guide 242 on the side opposite the secondelement 2432. The abutments 251 and 252 are identified in the wheels,preferably idle, toothed or friction. The axial constraint, shown inFIG. 3, includes a first prominence 261 protruding radially from thebottom guide 241 and distal from the bottom module 231 so as to enclosethe first engagement element 2431 between first prominence 261 and thebottom module 231 and a second prominence 262 protruding radially fromthe mobile guide 242 and distal from the mobile module 232 a and 232 band in particular from the bottom module 231 so as to enclose the firstengagement element 2431 between second prominence 262 and the bottommodule 231.

In order to stably reciprocally lock the arched modules 231, 232 a and232 b in any position with respect to the bottom arched module 231 and,thus, the gantry 2 in any configuration, the gantry 2 includes at leastone lock, placed appropriately in the housing volume, suitable toselectively lock or prevent the relative sliding between arched modules231, 232 a and 232 b and, thus, to define a locked position in which itprevents the relative movement between the modules 231, 232 a and 232 band a release position in which it allows the relative movement betweenthe modules 231, 232 a and 232 b. In particular, the gantry includes afirst lock suitable to stably constrain the first mobile module 232 a tothe bottom arched module 231 and a second lock suitable to stablyconstrain the second module 232 b to the bottom arched module 231.

To be precise, the first lock defines a first locking position in whichit prevents the relative movement between the first mobile arched module232 a and the bottom arched module 231 and a first release position inwhich it allows the relative movement between the first mobile archedmodule 232 a and the bottom arched module 231. The second lock defines asecond locking position in which it prevents the relative movementbetween the second mobile module 232 b and the bottom arched module 231and a second release position in which it allows the relative movementbetween the second mobile arched module 232 b and the bottom archedmodule 231.

Each lock is identifiable in a linear actuator integral with the mobilemodule 232 a and 232 b defining a high friction contact surface with thebottom module 231 and suitable to vary its own length, suitably along asubstantially radial direction with respect to the circular trajectory 2b so that, in the locked position, the contact surface presses againstthe bottom module 231 mutually stably constraining the modules 231, 232a and 232 b, while in the release position the contact surface is movedaway from the bottom module 231 allowing a mutual sliding between thesemodules.

Lastly, the gantry 2 and, in particular, the casing 23 include means ofconstraint 233 between the arched modules suitable to allow the modulesto approximately exclusively slide substantially along the circularextension trajectory 2 b. The means of constraint 233 are consequentlysuitable to prevent relative radial and axial movements between thearched modules 231, 232 a and 232 b. They include at least one circularengagement flap extending substantially along at least a portion of thethrough slot 244 modules so as to reciprocally engage the modules 231,232 a and 232 b.

In particular, the means of constraint 233 include, for each mobilearched module 232 a and 232 b, at least one circular flap protrudingaxially and externally from the mobile module so as to abut the bottomarched module 231 at the through slot 244. More specifically, the meansof constraint 233 include, for each mobile arched module 232 a and 232b, two circular flaps suitable to abut opposite sides of the throughslot 244. Preferably, a circular flap has a first portion protrudingaxially from the mobile arched module 232 a and 232 b through the slot244 and a second portion protruding radially from the first portion and,in detail, distal from the mobile arched module 232 a and 232 b andperpendicular to the first portion so as to enclose the bottom archedmodule 231 between the second portion and a mobile arched module 232 aand 232 b.

The gantry 2 is suitable to vary its angular extension maintaining,appropriately always, the source 21 and the detector 22 inside thehousing volume regardless of the angular extension of the casing 23. Itmay consequently include at least a support suitable to constrain thesource 21 and the detector 22 to the casing 23 and, specifically, insidethe housing volume. Specifically, the support is suitable to constrainthe source 21 and the detector 22 to at least one arched module 231, 232a and 232 b.

To allow the device 1 to pass from the rest configuration to the workingconfiguration placing the source 21 opposite the detector 22 withrespect to the central axis 2 c, the gantry 2 includes a first support27 for the source 21 and a second support 28 for the detector 22.Specifically, the first support 27 is suitable to stably constrain thesource 21 to one between the bottom arched module 231 and a mobilemodule 232 a or 232 b; the second support 28 is suitable to stablyconstrain the detector 21 to one between a mobile module 232 a or 232 band the bottom mobile 231. More specifically, the first support 27 andsecond support 28 are suitable to stably constrain the source 21 and thedetector 22 respectively to a bottom arched module 231 and to a mobilemodule 232 a or 232 b.

In order to allow the passage into the rest configuration, the firstsupport 27 is suitable to constrain the source 21 to the bottom archedmodule cantilevered, i.e. not in contact with any inner surface of thebottom arched module 231 so that a mobile module is able to positionitself between the source 21 and the bottom arched module 231. To suchpurpose, the first support 27, as shown in FIGS. 4a and 4b , includes aprop 271 integral with the bottom arched module 231 and suitable tosupport the source 21 cantilevered so as to allow a mobile arched module232 a or 232 b to position itself between the source 21 and the bottomarched module 231; and, appropriately, at least one retractable foot 272suitable to rest on a module 231, 232 a and 232 b and to support thesource 21 on the distal side and, in detail, opposite the prop 271 and,more specifically, to the anchor point of the prop 271 to the bottomarched module 231 (i.e. at the cantilever end of the prop 271 and/orsource 21 and thus, at greater distance from the bottom arched module231 as shown in FIG. 4b ).

The prop 271 is constrained to the bottom arched module 231 at the freesector 231 a so as not to interfere with the mobile modules 232 a and232 b preventing the passage into the rest configuration. Theretractable foot 272 is suitable to rest on the bottom arched module 231at least in the fully extended configuration and on a mobile archedportion 232 a and 232 b at least in the rest configuration. It includesa stand 2721 hinged to the source 21 and elastic means 2722,appropriately a compression spring, suitable to retract the stand 2721with respect to the source 21. Optionally, the second support 28 mayinclude a carriage for the detector 22 and a rail integral with thesecond mobile module 232 b and suitable to define, for the carriage, acircular trajectory preferably substantially coincident with thetrajectory 2 b. Alternatively, the first support 27 is suitable toconstrain the source 21 to the first mobile arched module 232 a and thesecond support 28 is suitable to constrain the detector 22 to the secondmobile arched module 232 b.

In this case, in order to allow the positioning of the source 21 and thedetector 22 on opposite sides of the central axis, the first support 27may include a first slider integral with the source 21 and a first railintegral with the first module 232 a and suitable to define, for thefirst slider, a first circular sliding trajectory approximatelycoincidental with the extension trajectory 2 b; and the second support28 may include a second slider integral with the detector 22 and asecond rail integral with the second mobile module 232 b and suitable todefine, for the second slider, a second circular sliding trajectorypreferably substantially coincident with the trajectory 2 b. These railsdefine for the relative sliders a stroke of substantially at least 10°and, in particular, substantially between 30° and 50°. In particular,these rails are suitable to place at least one between the source 21 anddetector 22 cantilevered with respect to the relevant mobile module 232a and 232 b so as allow the source 21 and the detector 22 to be onopposite sides with respect to the central axis 2 c. The control unit 1a is connected to the other components of the device 1 by a wire 1 band/or via a wireless connection. It is suitable to control and commandat least the gantry 2 and its movements. The unit 1 a includes a controlcard able to automatically monitor and control the radiological imagingdevice 1; and interface components (touch-screen, keyboard, etc.)suitable to enable the operator to control the imaging device 1. Inparticular, the control unit 1 a is suitable to control the operation ofthe thrust assembly 243 so as to define if and which module 231, 232 aand 232 b to move. Appropriately, the control unit 1 a is suitable tocontrol the operation of at least one lock and, specifically, theirpassage between the locked position and release position. Moreparticularly, the control unit 1 a, placing the locks in the lockedposition causes the thrust assembly 243 to rotate the entire gantry 2and placing at least one of the locks in the release position, makes thethrust assembly 243 perform a relative movement between at least onemobile module 232 a and 232 b with respect to the bottom module 231 andthus a change of configuration of the gantry 2.

In addition to the gantry 2 and to the unit 1 a, the radiologicalimaging device 1 may include a bearing structure 3 suitable to supportand move the gantry 2 and defining a free chamber 3 a for the gantry 2;and in some cases, a bed 4 suitable to be at least partially inserted inthe area of analysis 2 a and defining a longitudinal axis 4 a and asupport surface 4 b for the patient. The support surface 4 b issubstantially parallel to the central axis 2 c and is suitable toposition itself approximately parallel to the support surface of theimaging device 1. The bearing structure 3 includes a base 31 suitable tosupport the gantry 2; at least one column 32 suitable to sustain it in araised position with respect to the base 31, the bed 4; and, in somecases, 33 actuators suitable to move the bed 4 with respect to the base31. Optionally, the radiological imaging device is portable andtherefore the structure 3 may include movement means 34 of the device 1,preferably castor wheels, suitable to position themselves between theground and base 31 enabling the movement of the device 1. The base 31and at least one column 32 define the chamber 3 a. In detail, thechamber 3 a is defined underneath, i.e. in the vicinity of the floor, bythe base 31; along a lateral side of the column 32; if present, along asecond lateral side opposite the first side of the second column 32; andoptionally above the bed 4. The free chamber 3 a has two opencross-sections for access to said chamber extending substantiallyparallel to the central axis 2 c and, in particular, approximatelyperpendicular to the support surface 4 b.

The actuators 33 are placed between the bed 4 and each column 32 so asto change the extension of the chamber 3 a by means of an approximatelytransverse translation and in particular perpendicular to the supportsurface 4 b or, alternatively, independent of each other so to tilt thesurface 4 b with respect to the gantry axis. Alternatively, theactuators 33 modify the inner chamber 3 a by means of a rotation of thebed 2 around an axis substantially parallel to the central axis 2 c.

Positioned between the base 31 and the gantry 2, the radiologicalimaging device 1 has rotation means 5 defining an axis of rotation 5 aof the gantry 2; and translation means 6 defining a translation axis 6 aof the gantry 2. The translation means 6 are placed between the base 31and the gantry 2 and include a linear guide 61, preferably motorised,suitable to control the translation along the translation axis 6 a; anda translation element 62 joined to the gantry 2, in particular to thethrust assembly 243 and, more specifically, to the support 2433 andsuitable to slide along the linear guide 61 thereby translating saidgantry 2. The translation axis 6 a is substantially parallel to thecentral axis 2 c.

The means of rotation 5 are positioned between the translation means 6and the gantry 2 with respect to a rotation axis 5 a substantiallytransverse to the axis 2 c and, appropriately, to the support surface 4b so as to vary the mutual inclination between the axes 2 c and 4 a. Themeans of rotation 5 include a fixed plate 51 suitable to be joined tothe translation element 62; a mobile plate constrained to the casing 23and, to be precise, identifiable in the support 2433; pins, bearings orother similar elements defining the rotation axis 5 a; and a controllever 52 suitable to be gripped by the operator and, thus, allow theoperator to manually control the rotation around the rotation axis 5 a,of the mobile plate and thus of the gantry 2 with respect to the fixedplate 51. The control lever 52 is suitable to be associated with theholes on the plates 51 and thus define, for the gantry 2, a firstrotational locked position wherein the central axis 2 c is substantiallyparallel to the longitudinal axis 4 a, the trajectory 2 b lies on aplane substantially perpendicular to the longitudinal axis 4 a; and asecond rotational locked position wherein the central axis 2 c isapproximately perpendicular to the longitudinal axis 4 a and theextension trajectory 2 b lies in a plane approximately parallel to thelongitudinal axis 4 a. In addition, the lever 52 defines a thirdrotational locked position wherein the central axis 2 a is substantiallyparallel to the longitudinal axis 4 a, the extension trajectory 2 b lieson a plane approximately perpendicular to the longitudinal axis 4 a, butthe gantry 2 is rotated by 180° with respect to the first position. Asan alternative to the lever 52, the rotation means 5 provide a motorsuitable to control the aforesaid rotation of the gantry 2 and to definethe first and second rotational locked positions and, if necessary, thethird position.

Lastly, the imaging device 1 includes one or more cover blocks 7,preferably two, suitable to seal the ends of the casing 23 and inparticular the mobile arched modules 232 a and 232 b.

The functioning of the radiological imaging device, described above in astructural sense, is as follows. Initially, the radiological imagingdevice 1 is in the rest configuration, i.e. with the gantry 2 placedinside the free chamber 3 a and, therefore, the support surface 4 b isapproximately completely free and substantially accessible from anypoint. In such rest configuration, the gantry 2 has the casing 23 withthe mobile arched modules 232 a and 232 b, the source 21 and thedetector 22 housed in the bottom arched module 231.

The operator places the patient on the bed 4 and orders the passage intoa desired working configuration (FIG. 1d ). In particular, the controlunit 1 a by means of the rotation means 5 rotates the gantry by about90° thus placing the axes 2 c and 4 a substantially parallel to eachother. Now, the casing 23 and the gantry 2 vary their extension alongthe circular extension trajectory 2 b until the desired angularextension is achieved. During this configuration change, the mobilearched modules 232 a and 232 b rotate along the circular extensiontrajectory 2 b with opposite rotation directions from each other,placing themselves, in the working configuration of full extension,substantially in contact with each other.

The movements of the first module 232 a and of the second module 232 bare respectively defined by at least one thrust assembly which initiallyrotates the bottom module 231 in order to engage the second engagementelement 2432 to the mobile guide 242 of the mobile arched modules 232 aand 232 b. In detail, initially the gantry 2 has the locks stablyconstraining the mobile arched modules 232 a and 232 b to the bottommodule 231; only the first engagement element 2431 engaged to the bottomguide 241; and the second element 2432 unengaged to the mobile guide242.

First of all, the unit 1 a and, in particular, the thrust assembly 243drives the first engagement element 2431 so as to rotate the entirecasing 23 up to engaging the second element 2432 in one of the sectorsand, for example, to the first sector 242 b. At this point, the unit 1 aorders the first lock to pass into the release configuration, thusundoing the constraint between the first mobile arched module 232 a andthe bottom arched module 231 and the thrust assembly 243 drives thesecond element 2431 locking the module 2432. The second element 2432,acting on the mobile guide 242 and, in particular, on the first sector242 b, makes the first mobile arched module 232 a come out of the bottomarched module 231. Moreover, such sliding of the first mobile module 232a with respect to the bottom arched module 231 causes the retractablefoot 272, initially resting on the first module 232 a, to slide alongsaid first module 232 a coming, finally to rest on the bottom archedmodule 231.

Once the portion of the first mobile arched module 232 a protruding fromthe bottom arched module has the desired angular extension, the firstlock returns to the locked position and constrains the first mobilearched module 232 a to the bottom arched module 231, the thrust assembly243 drives the first engagement element 2431 so as to rotate, in theopposite direction to the previous, the entire casing 23 as far asengaging the second element 2432 to the second sector 242 c. This in thecondition in which the second module also needs to protrude from thebottom arched module 231.

At this point, the unit 1 a orders the second lock to release theconstraint between the second mobile arched module 232 b and the bottomarched module 231 and the thrust assembly 243 drives the second element2431 locking the second element 2432. The second element 2432, acting onthe second sector 242 c makes the second mobile arched module 232 a comeout of the bottom arched module 231.

Once the portion of the second mobile arched module 232 b protrudingfrom the bottom arched module 231 has the desired angular extension, theunit 1 a orders the second lock to constrain the second module 232 b tothe bottom arched module 231, i.e. to return to the locked position. Atthis point the radiological imaging device has reached the desiredworking configuration and can begin scanning.

An appropriate alternative working configuration may be one in whichonly one of the two modules 232 a or 232 b protrudes from the bottomarched module 231 so as to guarantee that the source 21 is diametricallyopposite the detector 22 and to have a working configuration in whichthe gantry 2 has an angular extension of less than 360° and thusdefines, between its ends of the circular extension trajectory 2 b, anaccess area during scanning. If the source 21 and the detector are notopposite with respect to the central axis 2 c, at least one of thesupports 27 and 28 moves the source and/or detector 22 until it reachessaid position. At this point, the operator selects the type ofradiological imaging and the portion of body to analyse. In response tosuch choice, the control unit 1 a defines the position which source 21and detector 22 must adopt and, as a result, the thrust assembly 243drives at least one of the of the engagement elements 2431 and/or 2432so as to rotate the entire casing 23 and move the source 21 and detector22 into said position. Once the source 21 and detector 22 have reachedthe desired position, either automatically or in response to a commandgiven by the operator via the control panel 1 a, the source 21 anddetector 22 perform the radiological imaging.

When the radiological imaging is completed, the operator can performanother scan or, alternatively, order the return of the device 1 to therest configuration and, thus, perform surgery on the patient withoutever moving the patient from the bed 4 of said device.

The disclosed embodiments achieve important advantages. One of the mostimportant advantages is that the imaging device 1, thanks to thepossibility of varying the extension of the gantry 2 and thus, placingit under the bed 4, makes it possible to perform a variety ofoperations/analyses on the patient without removed the same from the bed4, even for long periods of time, without sacrificing the ability toperform scans from any angle. Therefore, the innovative device allowsthe operator to leave the patient on the bed at all times withoutinterruption performing on the same site both surgery and radiologicalscans of various types (X-rays, tomography and fluoroscopy) from allpossible angles.

In fact, in the rest configuration, the gantry 2 being almost totallyhoused in the free chamber 3 a, the dimensions of the device 1 aredefined exclusively by the bed 4 and by the bearing structure 3 and,therefore, are substantially the same as those of an examination bed,i.e. a bed normally used to move the patient inside a hospital or toperform an operation on the patient. As a result, the device 1 becomes atool for continuous monitoring of the patient, i.e. able to perform, atany time, imaging of the patient which is utilisable in any part of ahospital (X-ray room, operating theatre, emergency room etc.) while atthe same time allowing operations to be performed even in emergencies.

The patient can, moreover, be transported from one place to anotherwithout ever leaving the device 1 according to embodiments of theinvention. In fact, in the rest configuration, the gantry 2 being almosttotally housed in the free chamber 3 a, the dimensions of the device 1are defined exclusively by the bed 4 and by the bearing structure 3.They are substantially the same as those of an examination bed, i.e. abed normally used to move the patient inside a hospital or to perform anoperation on the patient and such as to allow the device 1 to passthrough doors, elevators or other openings normally found in a hospital.This aspect is further enhanced by the fact that the imaging device 1,thanks to the innovative gantry 2, does not need to be placed inshielded environments and/or provided with those special conditionscharacterising radiology rooms currently in use. At the same time theinnovative movement apparatus, defining a rotation path of the sourceand detector of angular amplitude 360° makes it possible to performscans of 360° degrees or more without interruption.

Another advantage is the fact that the radiological imaging device 1 hashigh structural simplicity thanks to the possibility of using a singlethrust assembly 243 to vary the configuration of the radiologicalimaging device 1 and to perform the scan.

A further advantage is the ease of assembly and maintenance of themovement apparatus 24. In fact, it is totally outside the casing 23 andtherefore easily accessible by an operator.

Another important advantage is determined by the fact that the thrustapparatus 243, thanks to the presence of areas in which the guides 241mutually overlap, is able to pass gradually from the engagement to thebottom guide 241 to the mobile guide 242 and vice versa. In addition,such smooth transition makes it possible to avoid creating vibrations orother similar noise determining unwanted oscillations of the source 21and/or of the detector 22, detracting from the quality of the scan.

Another advantage of no less importance is given by the presence ofcover blocks 7 which seal the ends of the gantry 2 and prevent theentrance of blood, detritus or other materials that would damage theinner components of the gantry 2.

Another advantage is the fact that the bed 4, thanks to the actuators 33operable independently of each other, has two degrees of freedom withrespect to the structure 3 and the gantry 2. It is in fact bothtranslatable along an axis substantially perpendicular to the supportsurface 4 b and tiltable/rotatable with respect to the central axis 2 c.

Variations may be made to the embodiments described herein withoutdeparting from the scope of the inventive concept described in theindependent claims and in the relative technical equivalents. In saidsphere all the details may be replaced with equivalent elements and thematerials, shapes and dimensions may be as desired.

1-14. (canceled)
 15. A radiological imaging device comprising: a gantrydefining an analysis area configured to contain at least a portion of apatient to be analyzed and a circular extension trajectory extendingaround a central axis, said gantry comprising: a source configured toemit radiation; a detector configured to receive said radiation aftersaid radiation has passed through said analysis area; and a casingdefining a housing volume for at least said source and said detector,wherein said casing comprises: a bottom arched module; and an archedmodule mobile with respect to said bottom arched module configured tovary the angular extension of said casing and of said housing volumekeeping said source and said detector in said housing volume, andwherein said gantry further comprises, outside said housing volume, amovement apparatus configured to move said arched modules, said movementapparatus comprising: a bottom guide integral with said bottom archedmodule and defining a circular movement bottom trajectory substantiallycentered with respect to said central axis; a mobile guide integral withsaid mobile arched module and defining a circular movement mobiletrajectory substantially centered with respect to said central axis; anda thrust assembly configured to engage said guides, ordering therotation of at least part of said arched modules around said centralaxis to vary the angular extension of said casing.
 16. The radiologicalimaging device according to claim 15, wherein said gantry furthercomprises at least one support configured to constrain said source andsaid detector to said casing and inside said housing volume.
 17. Theradiological imaging device according to claim 15, wherein said gantryfurther comprises a first support constraining said source to saidbottom arched module and a second support constraining said detector tosaid mobile arched module.
 18. The radiological imaging device accordingto claim 17, wherein said first support constrains said source to saidbottom arched module in a cantilever such that said mobile arched moduleat least partially comes between said source and said bottom archedmodule.
 19. The radiological imaging device according to claim 18,wherein said first support comprises: a prop integral with said bottomarched module and configured to support said source cantilevered; and aretractable foot configured to rest on one of said arched modules and tosupport said source on the side opposite to said prop.
 20. Theradiological imaging device according to claim 15, wherein: said mobilearched module has a substantially lesser cross-section than thecross-section of said bottom arched module such that said mobile archedmodule can be housed inside said bottom arched module; and said movementapparatus comprises at least one through slot made on said bottom archedmodule and suitable to overlap said mobile guide allowing an engagementbetween said thrust assembly and said mobile guide when said mobilearched module is inside said bottom arched module.
 21. The radiologicalimaging device according to claim 15, wherein said movement apparatuscomprises: a first engagement element engaged with said bottom guideconfigured to command the rotation of said bottom arched module; and asecond engagement element engaged with said mobile guide configured tocommand the rotation of said mobile arched module.
 22. The radiologicalimaging device according to claim 21, wherein said first engagementelement and said second engagement element define respectively a firstengagement zone and a second engagement zone at least partly overlappingeach other radially.
 23. The radiological imaging device according toclaim 21, wherein said thrust assembly comprises a plurality of saidfirst engagement elements that are mutually angularly spaced along saidcircular extension trajectory to engage with said bottom guide atdistinct points.
 24. The radiological imaging device according to claim23, wherein said first engagement elements have a mutual angulardistance substantially between 10° and 30°.
 25. The radiological imagingdevice according to claim 21, wherein said thrust assembly comprises aplurality of said second engagement elements that are mutually angularlyspaced along said circular extension trajectory to engage with saidmobile guide at distinct points.
 26. The radiological imaging deviceaccording to claim 25, wherein said second engagement elements have amutual angular distance substantially between 10° and 30°.
 27. Theradiological imaging device according to claim 15, wherein said gantrycomprises a lock configured to block the relative sliding between saidbottom arched module and said mobile arched module defining a lockedposition that prevents the relative movement between said bottom archedmodule and said mobile arched module and a release position that allowsrelative movement between said bottom arched module and said mobilearched module.
 28. The radiological imaging device according to claim27, comprising a control unit configured to command the passage of saidlock into its locked position allowing said thrust assembly to rotatesaid gantry around said central axis, and configured to control thepassage of said lock into the release position allowing said thrustassembly to reciprocally rotate said bottom arched module and saidmobile arched module defining a changed configuration of said gantry.